Inverse Kinematics on MENTOR Arm - Part 2

As mentioned in the previous post we are using IK only for 2dof (on x and y plane). By that we calculated the joint angles on the Top and Bottom arm for the given x,y,z coordinates. 

Using the conversion from cartesian coordinate system (x,y,z) to cylindrical coordinates (ρ,theta2,r) the joint angle for base arm (theta2) was calculated.

Angle - Base arm

To calculate the joint angles the function "jointAngles" is used. The x,y,z coordinates of the palm that we get from the leap motion data are passed as an array "v" into the function and theta2 - base angle, angle2 - Bottom angle and angle3 - Top angle are returned as the output. 

Inverse Kinematics on MENTOR Arm

In this article we will talk about using inverse kinematics on the Mentor arm. The purpose of this is to position the wrist position of the Mentor Arm according to the x,y,z coordinates that we get from leap motion (will be discussed in a future post). 

Figure 1: Overview of Palm position and the wrist position